Server Example: Minitaur PD

Overview

Runs Minitaur with PD control, including per-joint gains that zero out unactuated joints. It is a compact reference for legged robot PD setup.

Screenshot

minitaur_pd example

Binary

Installed executable: minitaur_pd.

Run

Run the installed executable:

<raisim-install>/bin/minitaur_pd

On Windows, run minitaur_pd.exe instead. This example uses RaisimServer. Start the rayrai TCP viewer and connect to port 8080. RaisimUnity and RaisimUnreal are no longer supported.

Details

  • Loads the Minitaur URDF (closed-loop) and applies PD to actuated joints.

  • Sets gains to zero for unactuated joints in the closed-loop model.

  • Focuses the camera on the robot to show posture stability.